commit 53a2c45342e608424f7ae00224c12074c8c404af
author Austin Schuh <austin.linux@gmail.com> Wed Mar 22 21:18:20 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 25 15:17:09 2017 -0700
tree 09dedb32b42b562085698cdba076879ba575f435
parent 218a7555a4cc9974c4cf8ed6a827847164017b14

Tuned the comp robot at SF.

Change-Id: I962a55f786ae41eb73ae3b4e0c7dcec5a6d5395f

y2017/constants.cc

diff --git a/y2017/constants.cc b/y2017/constants.cc
index bcfd66e..9e16e78 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -71,7 +71,7 @@
   intake->zeroing.one_revolution_distance = Values::kIntakeEncoderIndexDifference;
   intake->zeroing.zeroing_threshold = 0.0005;
   intake->zeroing.moving_buffer_size = 20;
-  intake->zeroing.allowable_encoder_error = 0.3;
+  intake->zeroing.allowable_encoder_error = 1.9;
 
   column->turret_zeroed_distance = M_PI / 2.0;
   column->indexer_zeroing.index_difference = 2.0 * M_PI;
@@ -107,16 +107,16 @@
       break;
 
     case kCompTeamNumber:
-      intake->pot_offset = 0.26712;
-      intake->zeroing.measured_absolute_position = 0.008913;
+      intake->pot_offset = 0.26712 + 0.0035 + 0.033 + 0.0011;
+      intake->zeroing.measured_absolute_position = 0.003892;
 
-      column->indexer_zeroing.lower_hall_position = 2.0;
-      column->indexer_zeroing.upper_hall_position = 2.1;
+      column->indexer_zeroing.lower_hall_position = 5.201948;
+      column->indexer_zeroing.upper_hall_position = 5.508744;
 
-      column->turret_zeroing.lower_hall_position = 0;
-      column->turret_zeroing.upper_hall_position = 0.1;
+      column->turret_zeroing.lower_hall_position = -4.861087;
+      column->turret_zeroing.upper_hall_position = -4.680861;
 
-      hood->zeroing.measured_index_position = 0.652898 - 0.488117;
+      hood->zeroing.measured_index_position = 0.655432 - 0.398479;
 
       r->down_error = 0;
       r->vision_name = "competition";
@@ -124,7 +124,7 @@
 
     case kPracticeTeamNumber:
       intake->pot_offset = 0.2921 + 0.00039 + 0.012236 - 0.023602 + 0.010722;
-      intake->zeroing.measured_absolute_position = 0.045893;
+      intake->zeroing.measured_absolute_position = 0.044490;
 
       column->indexer_zeroing.lower_hall_position = 5.014364;
       column->indexer_zeroing.upper_hall_position = 5.292234;

y2017/constants.h

diff --git a/y2017/constants.h b/y2017/constants.h
index 8858996..829af88 100644
--- a/y2017/constants.h
+++ b/y2017/constants.h
@@ -77,8 +77,8 @@
       control_loops::superstructure::intake::kOutputRatio /
       constants::Values::kIntakeEncoderRatio *
       kIntakeEncoderCountsPerRevolution;
-  static constexpr ::frc971::constants::Range kIntakeRange{-0.01, 0.240, 0.01,
-                                                           0.230};
+  static constexpr ::frc971::constants::Range kIntakeRange{-0.01, 0.250, 0.01,
+                                                           0.235};
 
   static constexpr double kHoodEncoderCountsPerRevolution = 2048 * 4;
   static constexpr double kHoodEncoderRatio = 20.0 / 345.0;
@@ -89,7 +89,7 @@
       control_loops::superstructure::hood::kOutputRatio /
       constants::Values::kHoodEncoderRatio * kHoodEncoderCountsPerRevolution;
   static constexpr ::frc971::constants::Range kHoodRange{
-      -0.39 * M_PI / 180.0, 37.11 * M_PI / 180.0, (-0.39 + 1.0) * M_PI / 180.0,
+      -0.39 * M_PI / 180.0 - 0.01, 37.11 * M_PI / 180.0, (-0.39 + 1.0) * M_PI / 180.0,
       (37.11 - 1.0) * M_PI / 180.0};
 
   static constexpr double kTurretEncoderCountsPerRevolution = 256 * 4;